Using Newton's second law, it is possible to establish the equilibrium point

, where

is the length of the incline,

is the acceleration due to gravity, and

is a parameter that determines the rotation of the wheel. By energy conservation, one can find the angular frequency:

. From this, the equation of motion for the

coordinate, measured along the surface, is found to be

. The parameters

,

,

,

, and

all appear in the result.